There are a lot of things that can cause those lights to come on. Low brake fluid (caused by worn pads) is one of those things. It's helpful if the service engine soon light also comes on so there is a code to diagnose.

My car is doing the same stuff except my RAS light is comin on too. I know my brakes are worn and have ordered new pads and rotors, but is this causing my RAS problem as well as the SLIP light cause both come on together everytime.

My VDC and slip light came on also. The dealer replaced the steering angle sensor, the issue has been resolved. However, my rear brakes are down to 3mm and need replaced. Seems strange that they happen to be low when the steering angle sensor starts having issues.